**Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly. Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment. As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair. The information contained in the resource materials are subject to change at the sole discretion of DPAM.
Overview
The best way to obtain the latest documentation regarding the ORiN and how to communicate with your DENSO robot equipment is to download the latest version of the ORiN SDK. The following sections would reference documents that you would find on your system after you install the SDK. |
Tools and Parts needed
- Compatible robot controller
- Full size or mini teach pendant
- RC8_ProvGuide_en PDF document of the SDK install (C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Doc)
Controller Setup
Set Executable Token to Ethernet Section 2.2.3.1 - Setup using the teach pendant Operation Path: [F6 Setting] >> [F5 Communication and Token] >> [F1 Executable Token] | |
Set the network IP address on the RC Section 2.2.3.1 - Setup using the teach pendant Operation Path: [F6 Setting] >> [F5 Communication and Token] >> [F2 Network and Permission] | |
Changing Mini I/O to all general optionIf your PC application intends to execute programs, then signals like "Step Stop (All tasks)" and "Instantaneous stop signal" need to be set to enable. [F4 I/O] >> [F6 Aux] >> [F5 I/O Parameters] Select parameter No. 147: Mini I/O All general. Set the value to 1 by pressing [F5 Edit]. Note 1: By activating mini I/O all-general option, a special I/O input assignment of step stop signal is nullified, and the robot cannot be step-stopped by the I/O input. Note 2: By activating mini I/O all-general option, step stop wiring becomes not necessary. However, wiring for auto enable input and emergency stop input are still necessary even if the option is activated. | You might need to restart the controller for this change to take effect |
Next Steps:
- ORiN2 - Overview
- RC8 Provider User's Guide - Chapter 2.3: Operation check using CaoTester
- CaoTester User's Guide (C:\ORiN2\CAO\Tools\CaoTester\Doc\CaoTester_UsersGuide_en.pdf)
- RC8 (VRC) Code Samples (C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples)
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